ENPM662 -> Project2
Files:
Mobot - Consists of all main package files : to run : teleop_template to run mobile robot and arm_movement to run teleop for manipulator to run : pub.py for publisher to run : arm_urdf.launch for the main launch files
to run : python3 invk.py for inverse kinematics and trajectory generation to run : python3 fwk.py for forward kinematics
Analaysis1.xml - A Roboanalyser file for all the validation and verification done
Models: All important models for environment simulation . Please copy into your .gazebo folder before any simulation
surgbot - consists of all main files for moveit simulation Note: This is a copy of Mobot , but only for moveit simulation
Movebot : This file consists of all launch files for move it operation including a custom world to simulate to run : roslaunch demo_gazebo.launch for simulation
Report : ENPM662- Final Report.pdf
Vidoes : Consists of Output videos of the following a) Video of the robot motion and arm pick and place b) Arm pick and place using moveit c) workspace generation manually
CAD Files : Consists of all the important assembly files along with part files of the manipulator